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IEKF 公式(8.7b) 与 fastlio公式的对比 #181

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1344618323 opened this issue Oct 9, 2024 · 0 comments

1344618323 commented Oct 9, 2024 •

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fastlio论文 https://arxiv.org/pdf/2010.08196 中公式18 和本书中的公式(8.7b)有些区别，多了一项包含 $(1-KH)$ 。想问下是哪里的区别导致了这个差异。

fastlio中相关代码为
本书中相关代码

另外，我注意到#97 也提到了相关的问题，论文中套错公式了？

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